SPH 101: MECHANICS I

WEEK 1/ TOPIC/SUBTOPICS
OBJECTIVES
At the end of the lecture the learner should be
able to:
a) Classify vectors and give their various
properties
b) Solve problems on vectors
c) Apply knowledge of vectors in real
situations
Physical quantities are divided into two main
classes
a) Scalar quantities
b) Vector quantities

Scalar quantities possess magnitude and no

direction in space e.g. temperature, mass time.

Vector quantities have magnitude and

direction and obey the parallelogram law of
addition of vectors e.g acceleration, force,
electric field.

1
 - Electric current has both magnitude and
direction but is not a vector quantity since
it does not obey the parallelogram law of
addition.
- Finite rotation of a rigid body about an axis
has magnitude and direction but is not a
vector quantity because the sum of two
such rotations, one after the other is not
given by the parallelogram law.

Types of vectors
Coplanar vectors – are vectors whose line of
action lies in the same plane i.e. if they are in
the plane they are known as coplanar vectors
and the plane in which the vectors lie are
called the plane vectors.

Position vectors
These are vectors used to specify the position

of a point P with respect to same fixed

Point O. OP, known as position vector of P with

respect to O

2
[Find out the following]
- Addition of vectors
- Subtraction of vectors
- Commutative vector sum
- Associative vector sum
- Multiplication of a vector by a scalar
- Linear combination of vectors.
The magnitude of vector product 𝑎⃗ and 𝑏⃗⃗ is
given by
|𝑎⃗ × 𝑏⃗⃗| = |𝑎||𝑏| sin 𝜃, where 𝜃 is the angle
between 𝑎⃗ and 𝑏⃗⃗
𝑎⃗

𝑏⃗⃗

Direction of vector product of 𝑎⃗ and 𝑏⃗⃗ is

perpendicular to both 𝑎⃗ and 𝑏⃗⃗
Looking along 𝑎⃗ × 𝑏⃗⃗ then 𝑎⃗ rotates towards 𝑏⃗⃗ in
a clockwise manner.

𝑎⃗

3
 𝑎⃗ × 𝑏⃗⃗

RESOLUTION OF VECTORS

A 2-D vector can be represented as the sum of

two vectors. Consider a vector A (OP) as
shown in Figure 1.1
Let Ax and Ay be its vector intercepts along
the X and Y axis. Therefore
A = Ax + Ay
Ay and Ax are vector components of A i and j
are unit vectors along the X and Y axis
suppose Ax and Ay are the scalar magnitude of
the vector components Ax and Ay then Ax =
Axi and Ay = Ayj

4
𝜃, Is the angle made between A and positive A
axis. Sketch the spatial positions of vectors A,
𝑨𝒚 and 𝑨𝒙 using Figure 1

𝐴𝑥 = A cos and 𝐴𝑦 = A sin

This result is used for adding vectors suppose

is the vector sum of A and B then

C=A+B

These vectors can be expressed in terms of

vector components

Addition of x – components and y –

components can be obtained

Hence

The component of the resultant along an axis

is the algebraic sum of the individual
components in the direction as shown in
Figure 1.2

5
Fig 1

A three dimensional vector A can be

represented as the sum of three mutually
perpendicular vectors along the three co-
ordinate axis i.e.
Ax, Ay and Ax are components of A along X, Y
and Z respectively
Therefore
A = Ax + Ay + Az

Suppose Ax, Ay and Az are the scalar

magnitudes of these component vectors, then
obtain.

Suppose 𝜃1 , 𝜃2 𝑎𝑛𝑑 𝜃3 are the angles made

with A X Y and Z and with the directions of i, j
6
and k respectively, then determine the
direction cosines of vectors XYZ. (Refer to
hand out on Resolution of vectors)

POSITION VECTOR
If the co-ordinates of a point r are known
(position)
The distance of that point to the origin can be
expressed in time and space

Suppose X, Y, Z are the co-ordinates of point r.

R is therefore the position vector of the point.

The direction cosines of r being x/r, y/r and z/r

Sketch the position r in a 2 –D diagram and

then find the direction cosines

Example 2
A particle of mass 3kg moves under a force of
4i + 8j + 10K N. Calculate the acceleration of
the particle. If the particle starts from rest
from the center of the co-ordinates, calculate
its co-ordinates after 3 seconds.

7
Solution
F = ma

𝐹 4𝑖+8𝑗+10𝑘
a =𝑚 =
3

Displacement after 3s

1 4𝑖+8𝑗+10𝑘
S= . (3)2
2 3

= 6i + 12j + 15k

Initially the particle was at the origin, and the

new position of the vector will be given by

𝑟⃗ = 6i + 12j +15k
The position by co-ordinates will be (6, 12, 15)

EXAMPLE 2
Find the sum of two displacement vectors 𝑃⃗⃗
and 𝑄⃗⃗ lying in xy plane provided that:

𝑃⃗⃗ = (4𝑖 + 6𝑗)

8
𝑄⃗⃗ = (3𝑖 − 8𝑗)

SOL

𝑅⃗⃗ = 𝑃⃗⃗ + 𝑄⃗⃗ = (4𝑖 + 6𝑗) +(3𝑖 − 8𝑗) = 7i -2j

R = √(72 ) + (−2)2 + 0 = √53

Direction of R

𝑅𝑦 −2.0
tan θ = = = -15.95
𝑅𝑥 7

EXAMPLE 3
A particle undergoes three consecutive
displacements ∆𝑟⃗⃗⃗⃗1 = (21𝑖 + 40𝑗 + 15𝑘)𝑐𝑚, ∆𝑟⃗⃗⃗⃗2 =
(18𝑖 − 16𝑗 − 10𝑘)𝑐𝑚 and ∆𝑟⃗⃗⃗⃗3 = (−20𝑖 + 18𝑗)𝑐𝑚 .
Determine the unit vector notation for the
resultant displacement and its magnitude.
SOL
∆𝑟⃗ = ∆𝑟⃗⃗⃗⃗1 + ∆𝑟⃗⃗⃗⃗2 + ∆𝑟⃗⃗⃗⃗3

= (21𝑖 + 40𝑗 + 15𝑘)𝑐𝑚 + (18𝑖 − 16𝑗 − 10𝑘)𝑐𝑚 +

(−20𝑖 + 18𝑗)𝑐𝑚
9
= 19 i+ 42j + 5k

R = √𝑅𝑥 2 + 𝑅𝑦 2 + 𝑅𝑧 2
R = √192 + √422 + √52

= 46.37
Dot Product

When we multiply two vectors, we can either

apply a multiplication rule that produces a
scalar as the end result, or one that produces
a vector as the end result. The first one that
produces a scalar is called dot product. In
mathematical texts, this is often called inner
product or scalar product. Dot product has all
the usual properties of products, such as
associativity, commutativity, and the
distributive property. Geometrically, dot
product is defined as:

Where is the angle between and . Note

that since cos 0 = 1, if is parallel to , then
10
 . On the other hand, since cos 900 = 0.
If is perpendicular to , then . Using
this as the guiding rule, we find below
relationship:

Using this, we can define dot product in terms

of component vectors as follows:

You are encouraged to expand out the

multiplication explicitly, using the distributive
property and find which terms cancel to zero
and which products become 1.

Cross Product

Multiplication of vectors produces a vector

quantity. It defines the property of 3-
dimensional space. Since we can define a
vector multiplication this way and still obtain a
vector. This rule will not work when limited to
2-D, and in any dimensions greater than 3, an
extension of this rule will not result in another

11
vector (a dot product can be naturally
extended or limited to any dimensions to
produce a scalar). This multiplication gives a
cross product or outer product which is also
known as vector product. The product can be
defined with the two rules, first specifying the
product vector's direction, and the second
specifying its magnitude:

, Is perpendicular to and (that is,

perpendicular to the plane defined by these
two vectors). This leaves two possible
directions along the line perpendicular to the
plane. One of the two directions is called by
a "right-hand rule": Hold out index finger,
middle finger, and the thumb so that they are
all perpendicular to each other. Let the index
finger point towards direction of , and the
middle finger towards . Then the thumb
points towards the direction of . The
ordering is important here (note exchanging
A and B makes the thumb point in the
opposite direction).

12
 , where is again the angle
between and .

Applying this definition to unit vectors again,

we find following relationships:

And in terms of components, we obtain:

This expression can be expressed as a

determinant of a 3 x 3 matrix as shown below:

Some properties of cross product, such as

and can be derived as a
property of the determinant of the matrix.

13
Useful Properties of Dot Product and Cross
Product

Both the dot product and the cross product

distribute over vector addition.

The dot product of two vectors is proportional

to the cosine of the angle between them, and
their cross product is proportional to the sine
of the angle between them.

As we have seen already, the dot product is

associative and commutative.

It is important to remember that the cross

product has neither of these properties.

14
Instead of being commutative, it is anti-
commutative.

FIND OUT
Multiplication of vectors (cross)
- Scalar product or dot product
- Vector product
- Vector product in terms of components
- Triple product
- Scalar and vector triple product in terms of
components.

Example
In a 1.5 km wide river, water flows with a
velocity of 8 km/hr. A man wishes to go in a
boat from one of the banks to a point on the
other bank exactly opposite to his present
position. If he rows his boat with a velocity of
16 km/hr relative to water, determine the time
it takes him to cross over the river to the other
river bank.

15
Solution
Man wishes to move from A to B
To reach to point B the man has to row
upstream say towards point C i.e. along AC and
at angle θ with the line AB
- Motion of boat is composed of its motion
relative to the water and its motion
together with the water relative to the
banks.
- Velocity of boat along the river is zero
υ sinθ = u
…………………………………………………(i)

The velocity across the river is equal to υ cos

θ and the distance l (width of the river)
covered during time t is given by:
l = υ cosθ × t ……………………………………….(ii)

u = 8 km/hr υ = 16 km/hr l = 1.5 km

8
sin θ = = 0.5 , θ = 30o
16

Using equation (ii), substitute l ,υ and θ to

obtain:

16
1.5 = 16 cos 30o

1.5
t= = 0.108 hr ~6.5 minutes
16 cos 30𝑜

QUESTION (supervised on line practice)

A man in a boat crosses a river from point A to
point C. If he rows perpendicular to the banks
he reaches a point C lying 5m downstream
from point B after t1 seconds. If the man heads
at certain angle, say θ to line AB against the
current he will reach point B after t 2 seconds.

Calculate the width of the river ( l ), the velocity

of the boat (u) relative to the water, the speed
of the current ( υ) and angle θ assuming the
velocity of the boat relative to the water to be
constant and of the same magnitude in both
cases.

Solution
In the first case (a) boat moves along the river
with a velocity, υ.

17
Distance covered downstream is given by: -

S = υ𝑡1 ……………………………………… (i)

Boat moves across the river with a velocity u

and covers distance l i.e.

In the second case (b), the velocity of the boat

along the river is zero i.e.
usinθ = υ ………………………………(ii)

While the velocity across the river is equal to u

Cos, and the distance l covered during the
crossing will be

l = u cos θ𝑡2
Solving equation (i) and (iv) obtain
𝑙 𝑆
u= υ=𝑡
𝑡1 1

From equation (iii) obtain

𝑉
θ = 𝑠𝑖𝑛−1
𝑢
From equation (iii) and (iv) obtain

18
 2 𝑙2 𝑆2 𝑙2
𝑢 2= 𝑉 + = +
𝑡2 2 𝑡1 2 𝑡2 2

𝑙2 𝑆2 𝑙2
= +
𝑡1 2 𝑡1 2 𝑡2 2

𝑆2 1 1
= l[ 2 − ]
𝑡1 2 𝑡1 𝑡2 2

2 𝑆2 𝑡1 2 𝑡 2 2
𝑙 = [
𝑡 1 2 𝑡2 2 − 𝑡1 2
]

1
l = S𝑡2 √𝑡 2 − 𝑡1 2
2
E TIVITIES
Fid the cosine of the angle between 𝑣⃗ = 〈1,2〉 and 𝑤 ⃗⃗⃗ = 〈2,1〉
Find the vector projection of 𝑎⃗ = 〈1,2〉 onto 〈−4,1〉
Calculate |𝑎⃗ × 𝑏⃗⃗| when |𝑎⃗| = 2 and |𝑏⃗⃗| = 4 and the angle between 𝑎⃗ and 𝑏⃗⃗
is 𝜃 = 45°
If 𝑎⃗ = 4𝑖 + 2𝑗 − 𝑘 and 𝑏⃗⃗ = 2𝑖 − 6𝑗 − 3𝑘. Calculate a vector that is
perpendicular to both 𝑎⃗ and 𝑏⃗⃗

Further reading link

http://hyperphysics.phy-astr.gsu.edu/hbase/hframe.html.

19